CN103364787B - A kind of multi-beam side-scan sonar image mosaic fissure removing method - Google Patents
A kind of multi-beam side-scan sonar image mosaic fissure removing method Download PDFInfo
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Abstract
The invention belongs to acoustic picture to splice field, and in particular to a kind of multi-beam side-scan sonar image mosaic fissure removing method based on gps coordinate and course angle amendment.The present invention includes：Read half-tone information；Draw original track line；Establish model；Recording angular difference calculates Δ angle [x] average per 10Ping, establishes correction model；Obtain seamless landform image.The present invention can obtain more accurately positional information, reduce multi-beam side-scan sonar image and inlay caused gap, improve syncretizing effect.
Description
Technical field
The invention belongs to acoustic picture to splice field, and in particular to a kind of more ripples based on gps coordinate and course angle amendment
Beam side-scanning sonar image mosaic fissure removing method.
Background technology
Increasingly reduced with the resource of landing field, the mankind have turned to wide ocean space for naturally exploitation nature, sea
The exploration of foreign resource, the description of marine territory, the research in exclusive economic zone are finally required for the ocean map to be in a variety of manners
According to criterion.Current marine charting technology depends on sonar detection means, but because sonar GPS location is inaccurate and abnormal
The destabilizing factors such as saltus step are present, and result in and crack is inevitably present after side-scanning sonar image is inlayed, therefore can not obtain
Accurate sea-floor relief image.
Sonar Mosaic gap is repaired, and exactly reads the gps coordinate and course angle information in original sonar data, is carried out
Corresponding processing, eliminate the change of the asynchronous and speed of a ship or plane of influence and sound sonar GPS location scans record with gathering to(for) sonar
Receive due to the flexible delay of tow strap and the influence of caused course angle mutation, finally give seamless bottom mounted sonar mosaic image.
Related product in the market is external company's exploitation, and expensive, core technology is underground, and the country there is no related production
Product, and existing sonar mosaic image gap removing method only applies the pixel in interpolation filling chink, not only without fully profit
With the data in sonar, and it is computationally intensive, display effect is bad, therefore, to the multi-beam based on gps coordinate and course angle amendment
Side-scanning sonar image mosaic fissure removing method has great importance.
The content of the invention
It is an object of the invention to provide a kind of precision based on gps coordinate and course angle amendment is higher, syncretizing effect is more
Good multi-beam side-scan sonar image mosaic fissure removing method.
The object of the present invention is achieved like this：
The present invention comprises the following steps：
（1）The half-tone information of each passage in multi-beam side-scan sonar file is read, shows sonar image；
（2）GPS latitude and longitude coordinates information, ship's speed information and course angle information are successively read, draws original track line；
（3）When track points are that Tracepoint [k] arrives Tracepoint [k+n], gps coordinate is different from collection due to positioning
Step does not change, and at Tracepoint [k+2], speed changes to V2 by V1, establishes model：
Wherein, Tracepoint is the array of storage track points information, and k is that transducer launches sound wave Ping numbers, and n is whole
Number, m=k+2, Displacement respectively before and after velocity variations, Tracepoint [m-1]~Tracepoint [m+1] are exactly weight
Track points after building；
（4）Course angle heading [x], the ship's head angle shipheading [x] of towfish are recorded, note Δ angle [x] is
Both differential seat angles, i.e.,
Δangle[x]=shipheading[x]-heading[x]；
（5）Calculate Δ angle [x] average per 10Ping, be designated as averageangle, towfish between adjacent two Ping and
Ship's head angular difference value is designated as Δ 1 and Δ 2：
Δ1=heading[x]-heading[x-1]
Δ2=shipheading[x]-shipheading[x-1]；
（6）Establish correction model：
Wherein, α is corrected parameter；
（7）According to revised flight path and course angle information embedding image, seamless landform image is obtained.
The beneficial effects of the present invention are：It is right for multi-beam side scan sonar system GPS and course angle data acquisition feature
The relation that velocity information changes between GPS information carries out accurate position correction；According to towfish course angle in itself and hull
Relation between course angle, course angle information is modified.So as to obtain more accurately positional information, multi-beam side is reduced
Gap caused by Sonar Mosaic is swept, improves syncretizing effect.
Brief description of the drawings
Fig. 1 is the basic flow sheet of the inventive method；
Fig. 2 is the mosaic image for not carrying out filling up in gap；
Fig. 3 is the image that picture element interpolation filling chink is utilized after inlaying；
Fig. 4 is the mosaic image after being handled using the inventive method.
Embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
It is characteristic of the invention that：
1. step（3）In when being corrected to GPS position information, using velocity information as foundation, when GPS changes,
Its position distribution is not equidistant arrangement, but adds speed factor, and positional information is more defined closer to virtual condition, display
Really.
2. when multi-beam side scan sonar system carries out data acquisition, system can record two course angle informations, come respectively
From towfish and hull, the present invention utilizes this feature, carries out course angle correction.Actual acquired data comes from towfish, therefore should choose
Towfish course angle is as processing foundation, but when ship is turned, and because fluid retention acts on, its towfish angle change is jumped
Property it is larger, it is relatively stable from the change of ship's head angle, so according to step（4）、（5）、（6）Middle course angle correction model, knot
Towfish and hull course angle information is closed to be modified course angle information, so as to get course angle information it is more accurate, more meet sea
Bottom data characteristicses.
With reference to Fig. 1, the present invention is eliminated based on the multi-beam side-scan sonar image mosaic fissure of gps coordinate and course angle amendment
Method comprises the following steps that：
（1）The half-tone information of each passage in multi-beam side-scan sonar file is read, shows sonar image；
（2）GPS latitude and longitude coordinates information, ship's speed information and course angle information are successively read, draws original track line；
（3）When arriving Tracepoint [k+n] according to track points for Tracepoint [k]（Remember that Tracepoint navigates for storage
The array of mark point information, k are that transducer launches sound wave Ping numbers, and n is usually 4）, gps coordinate is due to GPS location and sonar data
Gather it is asynchronous do not change, but speed changes to V2 by V1 at Tracepoint [k+2], and we carry out data and shown
When, overlapping gps coordinate should carry out stretching amendment, i.e., be uniformly distributed the GPS information between this n PING therebetween, if speed around here
Information changes, then its distribution should be directly proportional to speed, therefore establishes such as drag：
Wherein, m=k+2, Displacement respectively before and after velocity variations, Tracepoint [m-1]~Tracepoint
[m+1] is exactly the track points after rebuilding；
（4）Because delay of the towfish in water acts on, when ship steady steaming, between towfish course angle and hull course angle
In the presence of certain stable difference, course angle heading [x], the ship's head angle shipheading [x] of towfish are recorded, remembers Δ
Angle [x] is both differential seat angles, i.e.,
Δangle[x]=shipheading[x]-heading[x]；
（5）Δ angle [x] average per 10Ping is calculated, is designated as averageangle, is（4）In the stabilization mentioned
Course angular difference, the influence of towfish course angle mutation is excluded, has calculated towfish and ship's head angular difference value between adjacent two Ping,
Δ 1 and Δ 2 are designated as respectively：
Δ1=heading[x]-heading[x-1]
Δ2=shipheading[x]-shipheading[x-1]；
（6）Establish following correction model：
（7）According to revised flight path and course angle information embedding image, seamless landform image is obtained.
（8）Figure of description 2 is the mosaic image for not carrying out filling up in gap, and Fig. 3 is to be filled out after inlaying using picture element interpolation
The image for gap of squeegeeing, it can be seen that after the existing processing using picture element interpolation method, sawtooth effect of image is obvious, and fill
Pixel has obscured display effect, and Fig. 4 is the mosaic image after being handled using the inventive method, can see by contrast,
After being handled with the inventive method, sonar data is fully used so that mosaic image is more accurate, better into scheming.
Claims (1)
1. a kind of multi-beam side-scan sonar image mosaic fissure removing method, it is characterised in that comprise the following steps：
(1) half-tone information of each passage in multi-beam side-scan sonar file is read, shows sonar image；
(2) GPS latitude and longitude coordinates information, ship's speed information and course angle information are successively read, draws original track line；
(3) when track points are that Tracepoint [k] arrives Tracepoint [k+n], gps coordinate is asynchronous simultaneously due to positioning and collection
Do not change, at Tracepoint [k+2], speed changes to V2 by V1, establishes model：
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Wherein, Tracepoint is the array of storage track points information, and k is that transducer launches sound wave Ping numbers, and n is integer, m=
K+2,Displacement respectively before and after velocity variations, Tracepoint [m-1]~Tracepoint [m+1] are exactly after rebuilding
Track points；
(4) course angle heading [x], the ship's head angle shipheading [x] of towfish are recorded, note Δ angle [x] is both
Differential seat angle, i.e.,
Δ angle [x]=shipheading [x]-heading [x]；
(5) Δ angle [x] average per 10Ping is calculated, is designated as averageangle, the course of the towfish between adjacent two Ping
Angular difference value is designated as Δ 1, and the ship's head angular difference value between adjacent two Ping is designated as Δ 2：
Δ 1=heading [x]-heading [x-1]
Δ 2=shipheading [x]-shipheading [x-1]；
(6) correction model is established：
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Wherein, α is corrected parameter；
(7) according to revised flight path and course angle information embedding image, seamless landform image is obtained.
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